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The Fast Marching based algorithm proposed here solves the problem of finding Feedback Control Laws for mobile robots, including nonholonomic vehicles. It integrates in a single Real Time Controller the global motion planning tasks and the collision avoidance capabilities required to efficiently move a mobile robot in a dynamic environment. The solution(More)
Robot navigation in unknown environments requires an efficient exploration method. Exploration involves not only to determine towards the robot must to move but also motion planning, and simultaneous localization and mapping processes. The final goal of the exploration task is to build a map of the environment that previously the robot didn't know. This(More)
— This paper presents a new Path Planning method which operates in two steps. In the first step the safest areas in the environment are extracted by means of a Voronoi diagram. In the second step Fast Marching Method is applied to the Voronoi extracted areas in order to obtain the shortest path. In this way the trajectory obtained is the shortest between(More)
The Extended Voronoi Transform and the Fast Marching Method combination provide potential maps for robot navigation in previously unexplored dynamic environments. The Extended Voronoi Transform of a binary image of the environment gives a grey scale that is darker near obstacles and walls and lighter when far from them. The Logarithm of the Extended Voronoi(More)